version: 66.12
glider: 187
mission: 4
dive: 294
start: 8 30 114 9 16 24
data:
$ID,187
$MISSION,4
$DIVE,294
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593794.4
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,300814,090654,4701.435,-12655.048,39,1.4,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.5
$GPS2,300814,091542,4701.351,-12655.062,11,1.0,16,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,246.4,6719,-15.9,-7.333,-20.45,1998
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.64,-95.4,394,2403,1423,1124,0.0,0.0,0,80,0.00,0.00,-49.08,0.000,16386,0.000,0.000,399,2403,2539,2622,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.66,-116.8,396,2403,2624,2456,3.1,-2.0,5,120,12.25,0.00,-16.20,0.000,18950,0.372,0.000,3102,2404,3335,3379,3292,0,0,0,0,0,0,13.95,28.83,14.48
$GC,361,-0.66,-116.8,3102,2403,3384,3295,59.4,-15.2,33,369,0.00,2.47,0.00,0.000,260,0.000,0.086,3099,3806,3339,3384,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,504,-0.66,-116.8,3102,3805,3383,3293,82.3,-15.3,47,513,0.00,2.42,0.00,0.000,1030,0.000,0.062,3102,2389,3340,3384,3297,0,0,0,0,0,0,28.83,14.31,28.83
$GC,753,-0.66,-116.8,3102,2383,3382,3297,116.9,-12.2,72,761,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2384,3342,3387,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.66,-116.8,3102,2387,3387,3299,146.6,-11.6,97,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2384,3342,3387,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-0.66,-116.8,3102,2384,3387,3297,177.3,-12.4,122,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2384,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1503,-0.66,-116.8,3102,2385,3387,3297,207.2,-11.8,147,1512,0.00,2.40,0.00,0.000,516,0.000,0.078,3103,997,3342,3387,3297,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1563,-0.66,-116.8,3103,997,3387,3297,214.6,-12.4,153,1571,0.00,2.45,0.00,0.000,1030,0.000,0.073,3103,2406,3344,3386,3302,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1813,-0.66,-116.8,3103,2409,3389,3297,241.6,-10.2,178,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2413,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2086,-0.66,-116.8,3100,2408,3387,3294,268.5,-9.7,193,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.66,-116.8,3108,2408,3387,3293,297.7,-9.7,203,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,-0.66,-116.8,3099,2408,3387,3291,325.4,-9.1,213,2690,0.00,2.47,0.00,0.000,260,0.000,0.094,3103,3818,3339,3387,3291,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2752,-0.66,-116.8,3103,3818,3386,3291,332.1,-9.8,220,2760,0.00,2.42,0.00,0.000,1030,0.000,0.067,3102,2406,3339,3387,3291,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3075,-0.66,-116.8,3102,2404,3386,3289,361.4,-9.4,232,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3337,3386,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.66,-116.8,3104,2403,3384,3287,390.3,-9.7,242,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2404,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.66,-116.8,3103,2405,3385,3286,418.2,-9.3,252,3680,0.00,2.45,0.00,0.000,516,0.000,0.080,3103,986,3335,3385,3286,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3733,-0.66,-116.8,3102,983,3385,3286,423.9,-9.6,258,3742,0.00,2.47,0.00,0.000,1030,0.000,0.075,3103,2409,3335,3385,3286,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4066,-0.66,-116.8,3103,2408,3379,3286,454.7,-9.4,271,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.66,-116.8,3101,2408,3384,3284,483.9,-9.7,281,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3334,3383,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4663,-0.66,-116.8,3103,2408,3383,3283,513.0,-9.7,291,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4963,-0.66,-116.8,3105,2408,3382,3282,540.4,-8.8,301,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5264,-0.66,-116.8,3103,2408,3382,3281,565.9,-8.5,311,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5563,-0.66,-116.8,3103,2408,3382,3281,591.9,-8.8,321,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5864,-0.66,-116.8,3103,2408,3381,3279,617.1,-8.2,331,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2412,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6163,-0.66,-116.8,3103,2408,3380,3278,641.9,-8.3,341,6170,0.00,2.50,0.00,0.000,516,0.000,0.085,3103,993,3329,3381,3278,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6212,-0.66,-116.8,3103,993,3381,3278,646.4,-9.4,346,6222,0.00,2.47,0.00,0.000,1030,0.000,0.081,3104,2398,3328,3380,3277,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6526,-0.66,-116.8,3103,2398,3380,3278,673.5,-8.8,357,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6823,-0.66,-116.8,3103,2398,3380,3276,700.3,-9.1,367,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2398,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7123,-0.66,-116.8,3103,2398,3379,3275,726.3,-8.5,377,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2398,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7423,-0.66,-116.8,3102,2398,3378,3275,751.8,-8.3,387,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2398,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,-0.66,-116.8,3102,2396,3379,3274,777.7,-8.7,397,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2398,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.66,-116.8,3103,2398,3378,3273,803.1,-8.5,407,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2398,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,-0.66,-116.8,3106,2401,3378,3273,827.5,-7.9,417,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2398,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8623,-0.66,-116.8,3103,2397,3377,3272,849.9,-7.4,427,8631,0.00,2.47,0.00,0.000,516,0.000,0.082,3102,993,3324,3378,3271,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8683,-0.66,-116.8,3103,991,3372,3271,854.5,-7.8,433,8691,0.00,2.50,0.00,0.000,1030,0.000,0.080,3103,2406,3324,3377,3272,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9016,-0.66,-116.8,3103,2403,3376,3270,879.9,-7.9,446,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2406,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,-0.66,-116.8,3102,2406,3377,3270,904.3,-8.3,456,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2406,3323,3376,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-0.66,-116.8,3103,2406,3377,3270,927.5,-7.6,466,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2406,3322,3376,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-0.66,-116.8,3102,2406,3376,3267,950.8,-7.8,476,9920,0.00,2.53,0.00,0.000,516,0.000,0.086,3103,986,3322,3376,3269,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9992,-0.66,-116.8,3102,985,3376,3269,957.7,-9.1,484,10001,0.00,2.50,0.00,0.000,1030,0.000,0.082,3103,2400,3322,3376,3269,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10303,-0.66,-116.8,3103,2399,3376,3269,982.1,-8.1,495,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3322,3375,3269,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10420,begin apogee
$GC,10429,-0.25,0.0,3099,2328,3375,3269,991.4,-7.7,499,10536,0.47,0.00,101.68,1.918,10246,0.183,0.000,3241,2328,2858,2934,2782,0,0,0,0,0,0,14.14,28.83,13.12
$STATE,10539,end apogee,CONTROL_FINISHED_OK
$STATE,10539,begin climb
$GC,10543,0.66,116.8,3241,2328,2933,2781,994.6,0.0,502,10668,0.93,2.72,109.60,1.888,10756,0.123,0.093,3535,929,2380,2517,2244,0,0,0,0,0,0,13.85,13.56,12.90
$GC,10718,0.66,116.8,3536,929,2516,2243,985.4,8.9,522,10728,0.00,2.58,0.00,0.000,1030,0.000,0.080,3535,2332,2379,2516,2243,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11048,0.66,116.8,3535,2331,2516,2237,953.5,9.7,535,11058,0.00,2.55,0.00,0.000,260,0.000,0.098,3535,3743,2376,2515,2237,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11098,0.66,116.8,3535,3743,2515,2237,948.3,10.2,540,11109,0.00,2.53,0.00,0.000,1030,0.000,0.077,3535,2327,2375,2515,2236,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11411,0.66,116.8,3535,2326,2515,2235,918.6,9.5,551,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2327,2374,2514,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11712,0.66,116.8,3535,2326,2515,2234,891.2,9.0,561,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2326,2377,2514,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12011,0.66,116.8,3535,2326,2510,2233,864.0,9.1,571,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2326,2373,2514,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12312,0.66,116.8,3535,2326,2514,2232,837.0,8.9,581,12321,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2331,2375,2518,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12611,0.66,116.8,3535,2326,2512,2232,809.0,9.5,591,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2326,2372,2513,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12911,0.66,116.8,3535,2326,2512,2231,779.0,10.0,601,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2326,2372,2512,2233,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22899,end climb,SURFACE_DEPTH_REACHED
$STATE,22899,begin surface coast
$FINISH,0.8,1.001263
$STATE,22940,end surface coast,CONTROL_FINISHED_OK
$STATE,22940,begin surface
$SM_CCo,22966,4.47,0.098,0,0,1328,375.06
$SM_GC,3.48,9.30,0.12,4.47,0.058,0.168,0.098,389,2404,1328,-9.11,-0.74,375.06,0,0,0,0,0,0,14.26,14.23,14.21
$IRIDIUM_FIX,4644.93,-12646.50,300814,020205
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.59
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3843936
$PM_FREEKB,54101696
$24V_AH,12.9,71.468
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.325,115.450,397.100,4.475,0.000,0.000,0.000,284.675,0.000,0.000,17.642,2958.486,16615.445,608.764,2578.802,734.779,0.000,2259.412,0.000,1865.110,0.000,0.537,0.000
$DEVICE_MAMPS,371.790,175.185,1917.855,97.920,0.000,0.000,0.000,164.475,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22967.000,10724.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.845,4.042,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,43342,1226
$CAP_FILE_SIZE,232542,0
$CFSIZE,260034560,228548608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,24825.53,0x2378ba,7,5
$CURRENT,0.020,259.6,1
$GPS,300814,154054,4700.967,-12659.187,49,1.4,49,18.6